Event-Triggered Communication Mechanism for Distributed Flocking Control of Nonholonomic Multi-agent System

  • Weiwei Xun
  • Wei YiEmail author
  • Xi Liu
  • Xiaodong Yi
  • Yanzhen Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10942)


As the scale of multi-agent systems (MAS) increases, communication becomes a bottleneck. In this paper, we propose an event-triggered mechanism to reduce the inter-agent communication cost for the distributed control of MAS. Communication of an agent with others only occurs when event triggering condition (ETC) is met. In the absence of communication, other agents adopt an estimation process to acquire the required information about the agent. Each agent has an above estimation process for itself and another estimation based on Kalman Filter, the latter can represent its actual state considering the measurement value and error from sensors. The error between the two estimators indicates whether the estimator in other agents can maintain a relatively accurate state estimation for this agent, and decides whether the communication is triggered. Simulations demonstrate the effectiveness and advantages of the proposed method for the distributed control of flocking in both Matlab and Gazebo.


Event-triggered communication scheme Distributed control Multi-agent systems Flocking 



This work was supported by NSFC under Grant 91648204 and 61303185 and HPCL Grants under 201502-01.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Weiwei Xun
    • 1
  • Wei Yi
    • 1
    • 2
    Email author
  • Xi Liu
    • 3
  • Xiaodong Yi
    • 1
    • 2
  • Yanzhen Wang
    • 1
    • 2
  1. 1.State Key Laboratory of High Performance Computing (HPCL), School of ComputerNational University of Defense TechnologyChangshaChina
  2. 2.Artificial Intelligence Research CenterNational Innovation Institute of Defense TechnologyChangshaChina
  3. 3.PLA Army Engineering UniversityNanjingChina

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